Doffing Apparatus And Automatically Guided Vehicle Comprising The Same

ABSTRACT

A doffing apparatus can be configured to couple to an automatically guided vehicle (AGV). The doffing apparatus can comprise at least one elongate arm, each elongate arm having a proximal end, a distal end, and a length, and at least one driver, each driver being configured to move along a respective elongate arm to move a bobbin toward the distal end of the elongate arm. The doffing apparatus can further comprise at least one alignment device. The doffing apparatus can further comprise a processor, wherein the processor is configured to: receive feedback from the at least one alignment device, provide a control signal to cause the AGV to align the elongate arm with a receptacle at a loader, and move the driver a select distance along the length of the elongate arm.

CROSS-REFERENCE TO RELATED APPLICATIONS

The application is a continuation of U.S. patent application Ser. No.17/085,021, filed Oct. 30, 2020, which claims priority to and thebenefit of the filing date of U.S. Provisional Application No.62/929,471, filed Nov. 1, 2019, the entirety of each of which is herebyincorporated by reference herein.

FIELD

The invention relates to an apparatus for automatically transferringmaterial packages, in particular, for use in a manufacturing (e.g., aflooring manufacturing) environment.

BACKGROUND

Filament extrusion systems produce rolls of material wound about abobbin. After the filament extrusion system has produced a completedmaterial roll (material package), the material package has to betransferred for further processing. Conventionally, transferring thematerial package from the filament extrusion system requires manuallymoving the material package. Because a typical material roll can weighup to 40 pounds and have a diameter of about 400 millimeters, thetransfer can be labor-intensive and slow. Accordingly, an improvedtransfer system is desirable.

SUMMARY

Described herein, in various aspects, is a doffing apparatus that isconfigured to couple to an automatically guided vehicle (AGV). Thedoffing apparatus can comprise at least one elongate arm. Each elongatearm of the at least one elongate arm can have a proximal end, a distalend, and a length. At least a portion of each elongate arm of the atleast one elongate arm can be configured to support at least one bobbin(or other material package) on the elongate arm. The doffing apparatuscan further comprise at least one driver. Each driver can be configuredto move along a respective elongate arm. When at least one bobbin (orother material package) is supported on the respective elongate arm,distal movement of the driver along the respective elongate arm can beconfigured to move the at least one bobbin (or other material package)toward the distal end of the elongate arm.

The doffing apparatus can further comprise at least one alignment deviceconfigured to provide an output indicative of a location of one or moreelongate arms with respect to one or more target locations.

Each driver can comprise a worm drive comprising a worm wheel and aworm. The worm can extend longitudinally along a corresponding elongatearm. Each driver can comprise a collar that is slidable along thecorresponding elongate arm. The collar can be coupled to the worm sothat rotation of the worm causes translation of the collar.

The doffing apparatus can further comprise a chassis that is configuredto be secured to an upper surface of the AGV.

The at least one elongate arm can comprise first and second elongatearms positioned on opposing sides of the chassis. The at least onedriver can comprise first and second drivers, wherein the first driveris configured to move along the first elongate arm, and wherein thesecond driver is configured to move along the second elongate arm.

A doffing system can comprise an AGV and a doffing apparatus. At leastone alignment device can be configured to provide an output indicativeof a location of one or more elongate arms with respect to one or moretarget locations. A doffing system can comprise at least one processor.The at least one processor can be configured to: receive feedback fromthe at least one alignment device, provide a control signal to cause theAGV to align a first elongate arm of the at least one elongate arm witha receptacle at a loader, and cause a first driver of the at least onedriver to move a select distance along the length of the first elongatearm.

The at least one processor can be physically associated with the AGV.

The at least one processor can be physically associated with the doffingapparatus.

The at least one alignment device can comprise a laser range detector.The laser range detector can be configured to emit a laser beam toward asurface of the one or more target locations, receive a reflection of thelaser beam from the surface of the one or more target locations, anddetermine a distance from the laser range detector to the surface of theone or more target locations based on the received reflection of thelaser beam.

The one or more target locations can comprise a body defining acylindrical recess.

The at least one alignment device can comprise a camera that isconfigured to capture an image having a reference surface therein. Theprocessor can be further configured to: receive the image, anddetermine, based on the image, a position of the doffing apparatusrelative to the reference surface.

A system comprising a doffing system and at least one winder, eachwinder of the at least one winder having a chuck. A computing device cancomprise at least one second processor and a memory in communicationwith the at least one second processor. The memory can have instructionsthereon that, when executed by the at least one second processor of thecomputing device, cause the at least one second processor of thecomputing device to: cause the AGV to align one elongate arm of the atleast one elongate arm of the doffing apparatus with the chuck of the atleast one winder; and cause the chuck to doff a material package onto tothe one elongate arm of the doffing apparatus.

The system can further comprise a loader having a robotic arm with anend effector. The memory can have instructions that, when executed bythe at least one second processor, cause the at least one secondprocessor to: cause the AGV to move toward the loader, cause the AGV toalign the doffing apparatus with the end effector of the robotic arm,and cause the driver to doff the material package to the end effector ofthe robotic arm.

The system can further comprise a tube magazine station, the tubemagazine station comprising: a hopper having at least one compartment,wherein the hopper defines a respective inlet opening and a respectiveoutlet in communication with each compartment of the at least onecompartment, wherein each inlet opening is configured to receive atleast one empty bobbin (or other empty material package), wherein eachoutlet is sized to allow one respective empty bobbin at a time to passtherethrough, wherein each compartment of the at least one compartmenthas a lower surface with a slope that is configured to bias the at leastone empty bobbin toward the outlet in communication with thecompartment; and at least one lip, wherein the at least one lip isconfigured to retain the respective one empty bobbin as the respectiveone empty bobbin exits each outlet.

The at least one compartment can comprise a plurality of compartments.The at least one outlet can comprise a plurality of outlets. The atleast one lip can comprise a plurality of lips. A respective lip can beassociated with each outlet and is configured to retain the respectiveempty bobbin in axial alignment with each other empty bobbin retained bythe respective lip associated with each other outlet.

The memory can have instructions that, when executed by the at least onesecond processor, cause the at least one second processor to: cause theAGV to align one elongate arm of the at least one elongate arm of thedoffing apparatus with each empty bobbin retained by the at least onelip of the tube magazine station; and cause the AGV to move to receiveeach empty bobbin retained at each outlet of the plurality ofcompartments on the one elongate arm.

The memory can have instructions that, when executed by the at least onesecond processor, cause the at least one second processor to: cause theAGV to move to a winder of the at least one winder; cause the AGV toalign the one elongate arm of the at least one elongate arm of thedoffing apparatus with the chuck of the winder; and cause the doffingapparatus to doff each empty bobbin received on the one elongate armonto the chuck of the winder.

Additional advantages of the invention will be set forth in part in thedescription that follows, and in part will be obvious from thedescription, or may be learned by practice of the invention. Theadvantages of the invention will be realized and attained by means ofthe elements and combinations particularly pointed out in the appendedclaims. It is to be understood that both the foregoing generaldescription and the following detailed description are exemplary andexplanatory only and are not restrictive of the invention, as claimed.

DESCRIPTION OF THE DRAWINGS

These and other features of the preferred embodiments of the inventionwill become more apparent in the detailed description in which referenceis made to the appended drawings wherein:

FIG. 1 is an exploded view of a doffing system comprising a doffingapparatus and an automatically guided vehicle (AGV), in accordance withembodiments disclosed herein.

FIG. 2 is a perspective view of the doffing system of FIG. 1.

FIG. 3 is a perspective view of the doffing system of FIG. 1 that isinterfacing with a filament extrusion system (e.g., a winder) in anoperating environment.

FIG. 4 is a perspective view of the doffing system of FIG. 1 in theoperating environment, further illustrating a tube magazine station.

FIG. 5 is a perspective view of the doffing system of FIG. 1 in theoperating environment, wherein the doffing system is interfacing with aloader having a robotic arm.

FIG. 6 is a top view of an elongate arm of the doffing apparatus as inFIG. 1.

FIG. 7 is a partial perspective view of the doffing apparatus as in FIG.1, detailing an alignment device.

FIG. 8 is a partial perspective view of a chuck of the filamentextrusion system of FIG. 3.

FIG. 9 is a top (bird's eye) view of an exemplary operating environment.

FIG. 10 is a close-up detail view of a portion of bird's eye view of theoperating environment as in FIG. 9.

FIG. 11 is a perspective view of the operating environment as in FIG. 9.

FIG. 12 is a perspective view of the doffing system of FIG. 1 that isinterfacing with the loader.

FIG. 13 is a schematic of a navigation system for controlling operationof the doffing systems and operating environment.

FIG. 14 is a computing device, in accordance with embodiments disclosedherein.

FIG. 15A is a perspective view of a cart transport positioned adjacent acart. FIG. 15B is a perspective view of a lift the cart transportextending outwardly from the cart transport and beneath the cart forlifting the cart. FIG. 15C is a perspective view of the cart positionedwith a cargo area of the cart transport.

FIG. 16 is a flow chart showing a method, in accordance with embodimentsdisclosed herein.

FIG. 17 is a rear perspective view of a manual doffing apparatus, inaccordance with embodiments disclosed herein.

FIG. 18 is a front perspective view of the manual doffing apparatus asin FIG. 17.

FIG. 19 is a cross sectional view of the tube magazine station as inFIG. 4.

DETAILED DESCRIPTION

The present invention now will be described more fully hereinafter withreference to the accompanying drawings, in which some, but not allembodiments of the invention are shown. Indeed, this invention may beembodied in many different forms and should not be construed as limitedto the embodiments set forth herein; rather, these embodiments areprovided so that this disclosure will satisfy applicable legalrequirements. Like numbers refer to like elements throughout. It is tobe understood that this invention is not limited to the particularmethodology and protocols described, as such may vary. It is also to beunderstood that the terminology used herein is for the purpose ofdescribing particular embodiments only, and is not intended to limit thescope of the present invention.

Many modifications and other embodiments of the invention set forthherein will come to mind to one skilled in the art to which theinvention pertains having the benefit of the teachings presented in theforegoing description and the associated drawings. Therefore, it is tobe understood that the invention is not to be limited to the specificembodiments disclosed and that modifications and other embodiments areintended to be included within the scope of the appended claims.Although specific terms are employed herein, they are used in a genericand descriptive sense only and not for purposes of limitation.

As used herein the singular forms “a,” “an,” and “the” include pluralreferents unless the context clearly dictates otherwise. For example,use of the term “an elongate arm” can refer to one or more of suchelongate arms, and so forth.

All technical and scientific terms used herein have the same meaning ascommonly understood to one of ordinary skill in the art to which thisinvention belongs unless clearly indicated otherwise.

As used herein, the terms “optional” or “optionally” mean that thesubsequently described event or circumstance may or may not occur, andthat the description includes instances where said event or circumstanceoccurs and instances where it does not.

As used herein, the term “at least one of” is intended to be synonymouswith “one or more of.” For example, “at least one of A, B and C”explicitly includes only A, only B, only C, and combinations of each.

Ranges can be expressed herein as from “about” one particular value,and/or to “about” another particular value. When such a range isexpressed, another aspect includes from the one particular value and/orto the other particular value. Similarly, when values are expressed asapproximations, by use of the antecedent “about,” it will be understoodthat the particular value forms another aspect. It will be furtherunderstood that the endpoints of each of the ranges are significant bothin relation to the other endpoint, and independently of the otherendpoint. Optionally, in some aspects, when values or characteristicsare approximated by use of the antecedents “about,” “substantially,” or“generally,” it is contemplated that values within up to 15%, up to 10%,up to 5%, or up to 1% (above or below) of the particularly stated valuecan be included within the scope of those aspects. Similarly, use of“substantially” (e.g., “substantially parallel”) or “generally” (e.g.,“generally planar”) to refer to the orientation of a surface should beunderstood to include embodiments in which angles are within about tendegrees, or within five degrees, or within one degree.

The word “or” as used herein means any one member of a particular listand also includes any combination of members of that list.

As used herein, except where otherwise indicated, it is understood thatembodiments described or claimed using “comprise,” “comprises,” or“comprising” can be alternatively be described or claimed using“consisting essentially of” or “consisting of” or equivalent terms.

It is to be understood that unless otherwise expressly stated, it is inno way intended that any method set forth herein be construed asrequiring that its steps be performed in a specific order. Accordingly,where a method claim does not actually recite an order to be followed byits steps or it is not otherwise specifically stated in the claims ordescriptions that the steps are to be limited to a specific order, it isin no way intended that an order be inferred, in any respect. This holdsfor any possible non-express basis for interpretation, including:matters of logic with respect to arrangement of steps or operationalflow; plain meaning derived from grammatical organization orpunctuation; and the number or type of aspects described in thespecification.

The following description supplies specific details in order to providea thorough understanding. Nevertheless, the skilled artisan wouldunderstand that the apparatus, system, and associated methods of usingthe apparatus can be implemented and used without employing thesespecific details. Indeed, the apparatus, system, and associated methodscan be placed into practice by modifying the illustrated apparatus,system, and associated methods and can be used in conjunction with anyother apparatus and techniques conventionally used in the industry.

Disclosed herein, in various aspects and with reference to FIGS. 1-2, isa material doffing system 90 comprising a doffing apparatus 100 attachedto an automatically guided vehicle (AGV) 200. The AGV 200 can optionallybe an AGV manufactured by KUKA ROBOTICS. The doffing apparatus 100 cancomprise a chassis 102 that is configured to couple to a top side of theAGV 200. For example, the chassis 102 can attach to the AGV 200 viascrews 103 through attachment flanges 105 in the chassis 102 and intothreaded holes 107 in the top of the AGV 200. The chassis 102 cansupport one or more elongate arms 104 (e.g., a pair of elongate arms104) in a cantilevered configuration. Optionally, the chassis 102 candefine at least one lateral projection (e.g., a laterally extending arm)or housing that defines a bore for receiving a portion of acorresponding elongate arm 104. Optionally, as shown in FIG. 1, thechassis 102 can define two opposing lateral projections that definebores for receiving portions of two elongate arms 104. The elongate arms104 can optionally have cylindrical or generally cylindrical profileswith a tapered distal end 106. Optionally, it is contemplated that thediameter of the elongate arms can be approximately the same diameter asa winder chuck, as further described herein, in order to facilitatesmooth transfer of bobbins and material packages between the chuckwinder and the elongate arms when the chuck winder and the elongate armsare coaxially aligned.

As shown in FIGS. 1-2 and 6, the doffing apparatus can include a driver120 that is configured to push material packages 160 distally (towardthe outer end of the arm) along the respective elongate arm. Inexemplary aspects, the material packages 160 can be bobbins or tubes.(The terms “bobbin” and “tube” are used interchangeably herein todescribe rolls about which material is, or can be, wound.) The bobbincan define a cylindrical through-hole through which the elongate arm canextend with sufficient clearance to slide smoothly along the elongatearm. The driver 120 can comprise a collar 122 that slidably engages therespective elongate arm and can be movable along the length of eachelongate arm in order to engage material packages 160 (e.g., bobbins ortubes). A worm drive 124, comprising a motor 126, a worm gear (notshown), and a worm 128, can engage the collar 122 to move the collar 122proximally and distally along the respective elongate arm 104. Theelongate arm 104 can define an outer circumference and a longitudinalchannel 130 within the outer circumference. The worm 128 can bepositioned in the longitudinal channel 130, within the outercircumference of the elongate arm 104. Optionally, the collar 122 candefine teeth that extend into the channel 130 to engage the worm 128.The collar 122 can have a distal end 123 having a maximum diameter thatis less that the diameter of the empty bobbin so that the collar engagesonly the bobbin and not material wound around the bobbin.

The motor 126 can be a servo motor. The doffing apparatus 100 or doffingsystem 90 (with a processor as further disclosed herein) can determine,based on the number of rotations of the motor 126 (and a known gearratio), the travel of the collar 122 along the respective elongate armand, accordingly, the position of the collar on the respective elongatearm. Thus, the doffing apparatus 100 or doffing system 90 can determinethe number of material packages (or empty tubes/bobbins 162) that havebeen pushed from the elongate arm.

Referring to FIGS. 1, 7, and 8, the doffing apparatus 100 can comprisean alignment device. The alignment device can comprise a laser scanner140 disposed at the distal end of each elongate rod. The laser scannercan be configured to detect a location of a winder chuck 302 (alsocommonly referred to as a spindle) of a filament extrusion system (orwinder 300). The laser scanner can be configured to emit a beam 142. Insome embodiments, the laser scanner can emit a point beam to detect ifthe elongate arm 104 is aligned with the winder chuck 302. The laserscanner can further comprise a detector that is configured to receive areflection of the laser beam from a reflecting surface. In exemplaryaspects, the laser scanner 140 can be a laser range detector as is knownin the art. In some aspects, the laser scanner can be configured tomeasure a distance between the laser scanner and a target (e.g., thechuck 302). The scanner can be used to detect a profile or marker on thechuck, such as, for example, a cylindrical recess 306 in a distal end304 of the chuck 302, wherein the cylindrical recess 306 is coaxial withthe chuck 302. For example, as the laser is moved across the surface ofthe distal end 304 of the chuck 302, step changes in distance measuredby the laser scanner can correspond to the edges of the cylindricalrecess 306. In this way, the doffing apparatus can provide feedback tothe AGV 200 to enable the AGV to align one elongate arm of the doffingapparatus with the chuck for material transfer. A similar cylindricalrecess can be provided on an end effector/gripper 324 of a robotic arm322 in a loader 320 so that the AGV can detect and align its elongaterods 104 with the gripper 324. Thus, in use, the AGV can be configuredto detect and align the elongate rods 104 with cylindrical recesses ineither the chuck 302 of the winder 300 or the end effector/gripper 324of the loader 320.

The loader 320 can be configured to receive material packages from thedoffing apparatus 100 and deliver the material packages to a cart 620(optionally, a cart that is positioned on casters, as in FIGS. 15A-15C,or other suitable rack or frame for holding material packages forstorage and transport). A cart transport 600 (e.g., an AGV having apayload receptacle thereon) can then be used to transport the cart 620with the material packages thereon for further processing, as well asreturn empty carts 620 for re-loading.

The AGV 200 can have a riser (including an associated actuator foreffecting movement relative to a vertical axis) that can raise and lowerthe doffing apparatus 100. This can be beneficial for positioning thedoffing apparatus for receiving and delivering material packages.Additionally, the riser can enable the AGV to avoid collisions betweenthe elongate arms and obstacles. The AGV 200 can further comprise aLiDAR system that is configured to detect objects in the vicinity of theAGV, and the AGV can use data from the LiDAR system to control itsmovement and avoid obstacles. The riser and LiDAR features of the AGVare well known in the art and are not described in detail here. However,the usage of these features in combination with the disclosed doffingapparatus provides significant advantages in the context of doffing andother filament extrusion processing steps as disclosed herein. Infurther aspects, the doffing system 90 can comprise at least one camera146 that can be used for navigation, positioning and alignment of thedoffing system, obstacle avoidance, or any combination thereof.Additionally, or alternatively, a safety non-contact proximity assembly156 can attach to the front of the AGV 200 and can assist the doffingsystem 90 in avoiding obstacles. It is contemplated that the safetynon-contact proximity assembly 156 can comprise one or more proximitysensors as are known in the art, with the proximity sensors beingcommunicatively coupled to processing components of the system asdisclosed herein.

The doffing system 90 can further comprise a cable carrier assembly 150that houses cables that communicatively couple a programmable logiccontroller (PLC) 92 (FIG. 13) of the doffing apparatus 100 with thealignment device (e.g., the laser detector 140) and AGV 200. The cablecarrier assembly 150 can further enable the AGV 200 to raise and lowerthe doffing assembly 100 via the riser. A pair of side bellows 152 canattach at respective sides of the doffing assembly 100 to inhibit dustand other objects from getting between the doffing apparatus 100 and theAGV 200. A top cover assembly 154 can provide an interface between theAGV 200 and the doffing assembly 100.

Referring to FIGS. 13 and 14, the PLC 92 of the doffing apparatus canhave the configuration as disclosed with respect to the remote computingdevice 1014 a, further described herein. Although depicted as a PLC, itis contemplated that the doffing apparatus can include any computingdevice as further disclosed herein. In further embodiments, althoughdepicted as being associated with or positioned within the doffingapparatus, it is contemplated that the PLC 92 can instead be associatedwith or positioned within the AGV 200. In still further embodiments,each of the doffing apparatus and the AGV 200 can have respective PLCsthat can optionally be in communication with each other (e.g., viacables in the cable carrier assembly 150). The PLC 92 can be configuredto control various aspects of the doffing apparatus 100, including, forexample, the laser detector 140 and the driver 120. For example, the PLC92 can be configured to receive feedback from the alignment device todetermine if an elongate arm 104 of the doffing apparatus is alignedwith a target (e.g., a cylindrical recess in a winder or an end effectorof a loader). Based on the feedback from the alignment device, the PLC92 can be configured to provide a control signal to cause the AGV tomove (e.g., move horizontally or adjust the height of the riser) toalign the elongate arm 104 with the target. The PLC 92 can further beconfigured to cause the driver 120 of the respective elongate arm tomove the collar 122 a select distance along the length of the elongatearm to unload a tube or material package (e.g., onto the winder orloader).

In some optional embodiments, the material packages (e.g., bobbins ortubes) can be restricted to select size and weight maximums in order toallow the AGV to stay balanced, as well as prevent the material packagesfrom interfering with the area scanners (e.g., LiDAR). For example, insome embodiments, the maximum material package dimensions can be 400 mmin diameter, 40 pounds in weight, and 290 mm in length. Accordingly, thedoffing apparatus can be structurally sufficient to support eachelongate arm when the elongate arm is holding a plurality of materialpackages (e.g., four material packages weighing 40 pounds each).Likewise, the elongate arm can have sufficient length to hold theplurality of material packages (e.g., four material packages). Thus, insome embodiments, to ensure that the plurality of material packages canbe accommodated, the arms can extend an adequate distance (e.g., atleast 1.2 meters) from the structure that supports them in acantilevered fashion.

Referring to FIGS. 4 and 19, a tube magazine station 360 can beconfigured to provide empty tubes to the doffing system 90 for deliveryto a winder 300. The tube magazine station 360 can comprise a hopper 362comprising a plurality of sub-compartments 364. The hopper can receivetubes in each of the sub-compartments and can gravity-feed the tubes torespective outlets 366. The outlets 366 can comprise an opening atsufficient height (vertical positioning) to allow a single tube 162 tofit therethrough. The bottom surfaces 368 of the hoppers can have aslope with respect to a horizontal plane to bias the tubes toward theirrespective outlets. One or more upwardly projecting lips 370 can bepositioned in communication with the outlets 366 to catch the tubes asthey exit the outlet(s). Optionally, a respective lip 370 can bepositioned in communication with each respective outlet 366. In thisway, the tube magazine station 360 can position a plurality of rolls inaxial alignment for receipt onto an elongate arm of a doffing apparatus100. Optionally, each lip 370 can define a respective channel orreceptacle 372 configured to receive at least a portion of at least onetube. Optionally, the tube magazine station 360 can have one or moresensors that can detect when the sub-compartments are low or empty. Thesensors can be, for example, optical sensors or pressure sensors.

The doffing apparatus can load one or both elongate arms with theplurality of tubes held in axial alignment on the tube magazine station.For example, the doffing apparatus 100 can axially align one of itselongate arms 104 with the plurality of aligned tubes, with therespective driver 120 of the elongate arm in a proximal (retracted)position. The laser detector 140 (FIG. 7) of the doffing apparatus 100can detect alignment with the plurality of aligned tubes. The AGV canthen move forward (i.e., in the longitudinal dimension of the elongatearm) to receive the plurality of tubes onto the elongate arm. The AGV200 can move away from (e.g., transversely to) the longitudinaldimension of the elongate arm to remove the tubes on the elongate armfrom the tube magazine station. Optionally, the upwardly projecting lips370 can deflect or pivot in a downward direction to enable tube removalfrom the tube magazine station 360. As the doffing apparatus 100 removesthe tubes, a subsequent set of tubes in respective sub-compartments 364of the hopper 362 can fall to the outlet 366 to be caught by theupwardly projecting lips 370, thereby aligning another plurality oftubes for receipt onto another elongate arm of the same or a differentdoffing apparatus 100. According to some optional aspects, the doffingapparatus 100 can then repeat the process of aligning and receivingempty tubes onto its other elongate arm.

Referring to FIGS. 9-13 and 16, a navigation system 500 can coordinatemovement and operation of the AGVs 200 and their respective doffingapparatuses 100 within an operating environment. An exemplary operatingenvironment 400 can comprise a home area 340 that defines respectivehome positions 342 for the doffing systems 90, a plurality of winders300, and one or more loaders 320. The doffing systems 90 can be used totake material packages from the winder and provide the material packagesto the loader 320. In further embodiments, the operating environment 400can comprise a tube magazine station 360. The doffing systems 90 canfurther deliver empty tubes from the tube magazine station 360 and tothe winders 300. The navigation system 500 can comprise a navigationserver 502 in communication with the winders 300, the doffing systems90, and the loaders 320, and, optionally, the sensors at the tubemagazine station 360. In exemplary aspects, it is contemplated that thewinders and the loaders can comprise one or more processing units and/orone or more sensors that are communicatively coupled to the navigationserver 502 to provide information concerning the operation and/or statusof the winders and the loaders.

According to some methods of operation, the doffing system 90 can waitat a home position until the doffing system is needed. A winder 300 canwind one or more packages at a time. For example, according to someoptional aspects, the winder can receive four empty tubes on its chuckand simultaneously wind four packages. The winder 300 can send a signalto the navigation server 502 indicating that the winder requiresdoffing. For example, when the winder produces a material package (or aplurality of material packages) having a sufficient diameter, the windercan relay such information to the navigation server 502. In furtheraspects, the navigation server 502 can predict when the winder will haveproduced the material packages having sufficient diameters (e.g., byusing a material feed rate and a known completed package size) and causethe doffing system 90 to position itself at the winder prior to, at, orshortly after completion of the material packages. For example, viaautomated software, the navigation server 502 can send a wireless signalto a doffing system 90 to cause the doffing system to go to the winder300. It is contemplated that the AGV 200 can comprise a guidance systemthat can position the AGV at the winder proximate to the winder, suchas, for example, within 100 mm.

Optionally, in some aspects, the winder can comprise a plurality ofchucks 302 (e.g., 2 chucks) that can be pivotable about a pivotal axisto selectively position one chuck in position to receive material andanother chuck in position for doffing. In this way, the winder can windmaterial with one chuck while doffing complete packages and receivingempty tubes on the other chuck. In these aspects, once the winder hascompleted forming material packages, the winder can pivot the chucksabout the pivotal axis to position the chuck with completed materialpackages in position to doff the completed packages. It is contemplatedthat the vertical position of the chuck, when in this pivotal positionabout the pivotal axis, can be a known height, and the riser of the AGV200 can move vertically to enable coaxial alignment between the elongatearm 104 and the chuck.

The doffing system 90 can then fine tune its alignment with the winderchuck. For example, the camera 146 of the doffing system 90 can capturean image of the winder chuck (or other reference surface or marker) anddetermine, via software that is well-known in the art of AGV guidance,linear (e.g., x, y, and z positions) and angular positions (e.g., thetaoffsets) of the doffing system relative to the winder chuck. Using thelinear and angular positions of the doffing system relative to thewinder chuck, the doffing system can move to adjust its position toalign one elongate arm 104 coaxially with, and at a select axial spacingfrom, the winder chuck. Optionally, the doffing system 90 caniteratively align itself. For example, the doffing system 90 can capturethe image of the winder chuck (or other reference surface or marker),determine its position relative to the winder chuck, and move to improveits alignment relative to the winder chuck, and repeat. This can berepeated a plurality of times (e.g., six times). Although the use ofsuch AGV guidance software is well-known in the art, the usage of thesefeatures in combination with the disclosed doffing apparatus providessignificant advantages in the context of doffing and other filamentextrusion processing steps as disclosed herein.

Once generally aligned (e.g., after a predetermined number of iterationsor within select linear and angular tolerances), in some optionalaspects, the doffing system 90 can move only horizontally transverselyto the longitudinal dimension of the elongate arm 104 to align the armwith the winder chuck. Next, the doffing system 90 can move onlyparallel to the longitudinal dimension of the elongate arm 104) todecrease the axial spacing between the elongate arm and the winderchuck. The doffing system 90 can use continuous or iterative feedbackfrom the laser scanner to position the elongate arm 104 at a selectaxial spacing from the chuck. The select axial spacing can optionallyrange from 40 mm to 55 mm (for example, 47.5 mm).

The doffing system 90 can then move horizontally transversely to thelongitudinal dimension of the elongate arm 104 to achieve optimalalignment. For example, the doffing apparatus 100 can scan the recess306 in the chuck 302 with its laser scanner to ensure alignment of oneelongate arm 104 with the winder chuck. As the doffing system 90 moveshorizontally transversely to the longitudinal dimension of the elongatearm 104, the laser scanner can measure a step decrease in its lineardistance measurement corresponding to the depth of the recess 306,indicating that the laser has moved out of the recess. The doffingsystem 90 can then move in the opposite direction (horizontallytransversely to the longitudinal dimension of the elongate arm 104) bythe radius of the recess, thereby corresponding to the elongate armbeing coaxially aligned with the chuck 302 of the winder 300.

The winder 300 can then doff the one or more packages (e.g., 4 packages)from its chuck 302 onto an elongate arm 104 of the doffing apparatus100. For example, the chuck 302 (FIG. 8) can have a driver that can havea similar structure and operate in a similar manner to that of thedriver 120 of the doffing apparatus 100. The driver of the chuck 302 canmove distally to push the material package(s) onto one elongate arm 104of the doffing apparatus. The winder can communicate with the navigationserver 502 to provide an indication that the winder has provided thematerial packages to the doffing system.

The navigation server can then communicate with the doffing system tocause the doffing system to move to the loader 320. The doffing system90 can use its alignment device to align itself with the gripper of theloader 320 when the loader is in a home position. The driver of thedoffing apparatus can then push the material packages onto the loader320, optionally, one material package at a time. The loader 320 canprovide the material packages to a cart transport 600 (FIGS. 15A-15C).The loader 320 can return to a home position to receive more materialpackages from the doffing apparatus 100 until the doffing apparatus hasunloaded all of its inventory.

Optionally, the doffing system 90 can deliver empty tubes to a winder.For example, in some embodiments, an operator can manually load emptytubes onto the doffing apparatus. In further embodiments, the doffingsystem 90 can collect tubes from the tube magazine station 360, asdisclosed herein. In some embodiments, the doffing system 90 can receiveone or more material packages 160 from the chuck of the winder 300 andthen deliver one or more empty tubes to a winder 300. For example, thedoffing apparatus can load a first arm with a plurality of empty tubes162 and can have an empty second arm (with no tubes positioned on thesecond arm). The doffing apparatus can receive the one or more materialpackages 160 from the winder 300 on its empty second arm andsubsequently replace the winder with one or more empty tubes 162 fromits first arm.

Referring to FIGS. 15A-15C, the cart transport 600 can be anautomatically guided vehicle. The cart transport 600 can comprise achassis 602 that can defines a cargo area 604. A lift 606 can besituated within the cargo area. The lift 606 can be configured to movelaterally and vertically to receive a cart 620. As shown in FIG. 15A,the cart transport 600 can horizontally align the cargo area 604 withthe cart 620. As shown in FIG. 15B, the lift can extend horizontally toposition itself beneath the cart 620. The lift 606 can then raise thecart 620 above a lower edge of the cargo area 604. The lift 606 can thenhorizontally retract to position the cart 620 within the cargo area 604,as shown in FIG. 15C.

The cart transport 600 can then move to deliver a cart 620 with materialpackages thereon to a location for further processing. The carttransport 600 can then place the cart 620 by performing the reverse ofthe steps for positioning the cart 620 within the cargo area 604. Thecart transport 600 can then pick up an empty cart 620 and deliver theempty cart 620 to a location where it can be loaded by a loader 320.

Referring to FIGS. 17 and 18, in some optional aspects, a manual doffingapparatus 700 can be used to receive the packages from the winders 300and transport the material packages to the loader 320. The manualdoffing apparatus can comprise a base 702. A plurality of wheels 704 cansupport the base 702. One or more columns 706 (e.g., two, as shown) canextend vertically from the base 702. The columns 706 can support a plate708. The plate 708 can be slidable between the columns 706. A cylinder710 (e.g., a pneumatic cylinder or a hydraulic cylinder) can verticallyposition the plate 708 along the columns 706. For example, the cylindercan be positioned between the base 702 and the plate 708. The cylindercan attach to the base 702. A piston within the cylinder can drive apiston rod 712 that attaches to the plate 708. In this way, as thepiston drives the piston rod 712 upward, the plate correspondingly movesupward. A rod 714 (e.g., a cylindrical rod) can extend horizontally fromthe plate 708 to receive the material packages from the winder.

An operator can manually position the manual doffing apparatus 700 atthe winder. That is, the operator can roll the manual doffing apparatus700 to the winder 300 and then adjust the position of the piston inorder to select the height of the rod 714. The winder can doff thematerial packages onto the rod 714. The operator can then wheel themanual doffing apparatus 700 to the loader 320.

Computing Device

FIG. 14 shows a system 1000 including an exemplary configuration of acomputing device 1001 that, in some embodiments, can be the navigationserver 502.

The computing device 1001 may comprise one or more processors 1003, asystem memory 1012, and a bus 1013 that couples various components ofthe computing device 1001 including the one or more processors 1003 tothe system memory 1012. In the case of multiple processors 1003, thecomputing device 1001 may utilize parallel computing.

The bus 1013 may comprise one or more of several possible types of busstructures, such as a memory bus, memory controller, a peripheral bus,an accelerated graphics port, and a processor or local bus using any ofa variety of bus architectures.

The computing device 1001 may operate on and/or comprise a variety ofcomputer readable media (e.g., non-transitory). Computer readable mediamay be any available media that is accessible by the computing device1001 and comprises, non-transitory, volatile and/or non-volatile media,removable and non-removable media. The system memory 1012 has computerreadable media in the form of volatile memory, such as random accessmemory (RAM), and/or non-volatile memory, such as read only memory(ROM). The system memory 1012 may store data such as environmentmanagement data 1007 (i.e., data from signals received by the AGV, theprocessor of the doffing apparatus (as further described herein), thewinders, the loader, and/or the tube magazine station) and/or programmodules such as operating system 1005 and environment managementsoftware 1006 that are accessible to and/or are operated on by the oneor more processors 1003.

The computing device 1001 may also comprise otherremovable/non-removable, volatile/non-volatile computer storage media.The mass storage device 1004 may provide non-volatile storage ofcomputer code, computer readable instructions, data structures, programmodules, and other data for the computing device 1001. The mass storagedevice 1004 may be a hard disk, a removable magnetic disk, a removableoptical disk, magnetic cassettes or other magnetic storage devices,flash memory cards, CD-ROM, digital versatile disks (DVD) or otheroptical storage, random access memories (RAM), read only memories (ROM),electrically erasable programmable read-only memory (EEPROM), and thelike.

Any number of program modules may be stored on the mass storage device1004. An operating system 1005 and environment management software 1006may be stored on the mass storage device 1004. One or more of theoperating system 1005 and environment management software 1006 (or somecombination thereof) may comprise program modules and the environmentmanagement software 1006. Environment management data 1007 may also bestored on the mass storage device 1004. Environment management data 1007may be stored in any of one or more databases known in the art. Thedatabases may be centralized or distributed across multiple locationswithin the network 1015.

A user may enter commands and information into the computing device 1001using an input device (not shown). Such input devices comprise, but arenot limited to, a keyboard, pointing device (e.g., a computer mouse,remote control), a microphone, a joystick, a scanner, tactile inputdevices such as gloves, and other body coverings, motion sensor, and thelike. These and other input devices may be connected to the one or moreprocessors 1003 using a human machine interface 1002 that is coupled tothe bus 1013, but may be connected by other interface and busstructures, such as a parallel port, game port, an IEEE 1394 Port (alsoknown as a Firewire port), a serial port, network adapter 1008, and/or auniversal serial bus (USB).

A display device 1011 may also be connected to the bus 1013 using aninterface, such as a display adapter 1009. It is contemplated that thecomputing device 1001 may have more than one display adapter 1009 andthe computing device 1001 may have more than one display device 1011. Adisplay device 1011 may be a monitor, an LCD (Liquid Crystal Display),light emitting diode (LED) display, television, smart lens, smart glass,and/or a projector. In addition to the display device 1011, other outputperipheral devices may comprise components such as speakers (not shown)and a printer (not shown) which may be connected to the computing device1001 using Input/Output Interface 1010. Any step and/or result of themethods may be output (or caused to be output) in any form to an outputdevice. Such output may be any form of visual representation, including,but not limited to, textual, graphical, animation, audio, tactile, andthe like. The display 1011 and computing device 1001 may be part of onedevice, or separate devices.

The computing device 1001 may operate in a networked environment usinglogical connections to one or more remote computing devices 1014 a,b,c.A remote computing device 1014 a,b,c may be a personal computer,computing station (e.g., workstation), portable computer (e.g., laptop,mobile phone, tablet device), smart device (e.g., smartphone, smartwatch, activity tracker, smart apparel, smart accessory), securityand/or monitoring device, a server, a router, a network computer, a peerdevice, edge device or other common network node, and so on. Logicalconnections between the computing device 1001 and a remote computingdevice 1014 a,b,c may be made using a network 1015, such as a local areanetwork (LAN) and/or a general wide area network (WAN). Such networkconnections may be through a network adapter 1008. A network adapter1008 may be implemented in both wired and wireless environments. Suchnetworking environments are conventional and commonplace in dwellings,offices, enterprise-wide computer networks, intranets, and the Internet.It is contemplated that the remote computing devices 1014 a,b,c canoptionally have some or all of the components disclosed as being part ofcomputing device 1001. In exemplary embodiments, the remote computingdevices 1014 a,b,c can be on-board computers or programmable logiccontrollers of the doffing apparatus 100, the AGVs 200, the winders 300,the loader 320, etc.

Application programs and other executable program components such as theoperating system 1005 are shown herein as discrete blocks, although itis recognized that such programs and components may reside at varioustimes in different storage components of the computing device 1001, andare executed by the one or more processors 1003 of the computing device1001. An implementation of data processing software 1006 may be storedon or sent across some form of computer readable media. Any of thedisclosed methods may be performed by processor-executable instructionsembodied on computer readable media.

Although various computing devices are disclosed herein as beingassociated with certain functions, it is contemplated that suchfunctions can be associated with any other suitable computing devicewithin the operating environment. Thus, for example, although the PLC 92is disclosed as controlling the driver 120, in further optional aspects,a separate computing device can be associated with the AGV, and theseparate computing device can perform various functions disclosed hereinas being associated with the PLC 92. Similarly, various aspects ofalignment and navigation of the doffing system 90 can be performed bycomputing devices associated with the doffing system 90 (e.g., a PLCassociated with the doffing apparatus or the separate computing deviceassociated with the AGV) or the navigation server 502.

Exemplary Aspects

In view of the described devices, systems, and methods and variationsthereof, herein below are described certain more particularly describedaspects of the invention. These particularly recited aspects should nothowever be interpreted to have any limiting effect on any differentclaims containing different or more general teachings described herein,or that the “particular” aspects are somehow limited in some way otherthan the inherent meanings of the language literally used therein.

Aspect 1: A doffing apparatus that is configured to couple to anautomatically guided vehicle (AGV), the doffing apparatus comprising: atleast one elongate arm, each elongate arm of the at least one elongatearm having a proximal end, a distal end, and a length, wherein at leasta portion of each elongate arm of the at least one elongate arm isconfigured to support at least one bobbin on the elongate arm; and atleast one driver, each driver of the at least one driver beingconfigured to move along a respective elongate arm, wherein when atleast one bobbin is supported on the respective elongate arm, distalmovement of the driver along the respective elongate arm is configuredto move the at least one bobbin toward the distal end of the elongatearm.

Aspect 2: The doffing apparatus of aspect 1, further comprising at leastone alignment device configured to provide an output indicative of alocation of one or more elongate arms with respect to one or more targetlocations.

Aspect 3: The doffing apparatus of aspect 1 or aspect 2, wherein eachdriver comprises: a worm drive comprising a worm wheel and a worm,wherein the worm extends longitudinally along a corresponding elongatearm, and a collar that is slidable along the corresponding elongate arm,wherein the collar is coupled to the worm so that rotation of the wormcauses translation of the collar.

Aspect 4: The doffing apparatus of any one of the preceding aspects,further comprising a chassis that is configured to be secured to anupper surface of the AGV.

Aspect 5: The doffing apparatus of claim 4, wherein the at least oneelongate arm comprises first and second elongate arms positioned onopposing sides of the chassis, and wherein the at least one drivercomprises first and second drivers, wherein the first driver isconfigured to move along the first elongate arm, and wherein the seconddriver is configured to move along the second elongate arm.

Aspect 6: A doffing system comprising: an AGV; a doffing apparatus as inany one of the preceding aspects; at least one alignment deviceconfigured to provide an output indicative of a location of one or moreelongate arms with respect to one or more target locations; and at leastone processor, wherein the at least one processor is configured to:receive feedback from the at least one alignment device, provide acontrol signal to cause the AGV to align a first elongate arm of the atleast one elongate arm with a receptacle at a loader, and cause a firstdriver of the at least one driver to move a select distance along thelength of the first elongate arm.

Aspect 7: The doffing system of aspect 6, wherein the at least oneprocessor is physically associated with the AGV.

Aspect 8: The doffing system of aspect 6, wherein the at least oneprocessor is physically associated with the doffing apparatus.

Aspect 9: The doffing system of any one of aspects 6-8, wherein the atleast one alignment device comprises a laser range detector, wherein thelaser range detector is configured to: emit a laser beam toward asurface of the one or more target locations; receive a reflection of thelaser beam from the surface of the one or more target locations; anddetermine a distance from the laser range detector to the surface of theone or more target locations based on the received reflection of thelaser beam.

Aspect 10: The doffing system of aspect 9, wherein the one or moretarget locations comprises a body defining a cylindrical recess.

Aspect 11: The doffing apparatus of any one of aspects 6-10, wherein theat least one alignment device comprises a camera that is configured tocapture an image having a reference surface therein, wherein theprocessor is further configured to: receive the image, and determine,based on the image, a position of the doffing apparatus relative to thereference surface.

Aspect 12: A system comprising: a doffing system as in any one ofaspects 6-11 at least one winder, each winder of the at least one winderhaving a chuck; and a computing device comprising at least one secondprocessor and a memory in communication with the at least one secondprocessor, wherein the memory has instructions thereon that, whenexecuted by the at least one second processor of the computing device,cause the at least one second processor of the computing device to:cause the AGV to align one elongate arm of the at least one elongate armof the doffing apparatus with the chuck of the at least one winder; andcause the chuck to doff a material package onto to the one elongate armof the doffing apparatus.

Aspect 13: The system of aspect 12, further comprising a loader having arobotic arm with an end effector, wherein, the memory has instructionsthat, when executed by the at least one second processor, cause the atleast one second processor to: cause the AGV to move toward the loader,cause the AGV to align the doffing apparatus with the end effector ofthe robotic arm, and cause the driver to doff the material package tothe end effector of the robotic arm.

Aspect 14: The system of aspect 12 or aspect 13, further comprising atube magazine station, the tube magazine station comprising: a hopperhaving at least one compartment, wherein the hopper defines a respectiveinlet opening and a respective outlet in communication with eachcompartment of the at least one compartment, wherein each inlet openingis configured to receive at least one empty bobbin, wherein each outletis sized to allow one respective empty bobbin at a time to passtherethrough, wherein each compartment of the at least one compartmenthas a lower surface with a slope that is configured to bias the at leastone empty bobbin toward the outlet in communication with thecompartment; and at least one lip, wherein the at least one lip isconfigured to retain the respective one empty bobbin as the respectiveone empty bobbin exits each outlet.

Aspect 15: The system of aspect 14, wherein the at least one compartmentcomprises a plurality of compartments, wherein the at least one outletcomprises a plurality of outlets, wherein the at least one lip comprisesa plurality of lips, wherein a respective lip is associated with eachoutlet and is configured to retain the respective empty bobbin in axialalignment with each other empty bobbin retained by the respective lipassociated with each other outlet.

Aspect 16: The system of aspect 14 or aspect 15, wherein the memory hasinstructions that, when executed by the at least one second processor,cause the at least one second processor to: cause the AGV to align oneelongate arm of the at least one elongate arm of the doffing apparatuswith each empty bobbin retained by the at least one lip of the tubemagazine station; and cause the AGV to move to receive each empty bobbinretained at each outlet of the plurality of compartments on the oneelongate arm.

Aspect 17: The system of aspect 16, wherein, the memory has instructionsthat, when executed by the at least one second processor, cause the atleast one second processor to: cause the AGV to move to a winder of theat least one winder; cause the AGV to align the one elongate arm of theat least one elongate arm of the doffing apparatus with the chuck of thewinder; and cause the doffing apparatus to doff each empty bobbinreceived on the one elongate arm onto the chuck of the winder.

Although the foregoing invention has been described in some detail byway of illustration and example for purposes of clarity ofunderstanding, certain changes and modifications may be practiced withinthe scope of the appended claims.

What is claimed is:
 1. A doffing apparatus that is configured to coupleto an automatically guided vehicle (AGV), the doffing apparatuscomprising: at least one elongate arm, each elongate arm of the at leastone elongate arm having a proximal end, a distal end, and a length,wherein at least a portion of each elongate arm of the at least oneelongate arm is configured to support at least one bobbin on theelongate arm; at least one driver, each driver of the at least onedriver being configured to move along a respective elongate arm of theat least one elongate arm, wherein when at least one bobbin is supportedon the respective elongate arm, distal movement of the driver along therespective elongate arm is configured to move the at least one bobbintoward the distal end of the elongate arm; and at least one alignmentdevice, wherein each alignment device of the at least one alignmentdevice is positioned at the distal end of a respective elongate arm ofthe at least one elongate arm, wherein each alignment device of the atleast one alignment device is configured to provide an output indicativeof a location of the respective elongate arm with respect to one or moretarget locations.
 2. The doffing apparatus of claim 1, wherein eachdriver comprises: a worm drive comprising a worm wheel and a worm,wherein the worm extends longitudinally along a corresponding elongatearm, and a collar that is slidable along the corresponding elongate arm,wherein the collar is coupled to the worm so that rotation of the wormcauses translation of the collar.
 3. The doffing apparatus of claim 2,wherein the doffing apparatus is configured for use with a bobbin havingan outer diameter, wherein the collar has a distal end having a maximumdiameter that is less than the outer diameter of the bobbin.
 4. Thedoffing apparatus of claim 1, further comprising a chassis that isconfigured to be secured to an upper surface of the AGV.
 5. The doffingapparatus of claim 4, wherein the at least one elongate arm comprisesfirst and second elongate arms positioned on opposing sides of thechassis, wherein the at least one driver comprises first and seconddrivers, wherein the first driver is configured to move along the firstelongate arm, and wherein the second driver is configured to move alongthe second elongate arm.
 6. The doffing apparatus of claim 4, furthercomprising at least one motor, wherein each motor of the at least onemotor is coupled to a respective elongate arm of the at least oneelongate arm, and wherein each motor of the at least one motor couplesto and extends downwardly from the chassis.
 7. A doffing systemcomprising: an AGV; a doffing apparatus comprising: at least oneelongate arm, each elongate arm of the at least one elongate arm havinga proximal end, a distal end, and a length, wherein at least a portionof each elongate arm of the at least one elongate arm is configured tosupport at least one bobbin on the elongate arm; and at least onedriver, each driver of the at least one driver being configured to movealong a respective elongate arm of the at least one elongate arm,wherein when at least one bobbin is supported on the respective elongatearm, distal movement of the driver along the respective elongate arm isconfigured to move the at least one bobbin toward the distal end of theelongate arm; at least one alignment device, wherein each alignmentdevice of the at least one alignment device is positioned at the distalend of a respective elongate arm of the at least one elongate arm,wherein each alignment device of the at least one alignment device isconfigured to provide an output indicative of a location of therespective elongate arm with respect to one or more target locations;and at least one processor, wherein the at least one processor isconfigured to: receive feedback from a first alignment device of the atleast one alignment device, wherein the first alignment device isconfigured to provide an output indicative of the location of a firstelongate arm of the at least one elongate arm with respect to the one ormore target locations; provide a control signal to cause the AGV toalign the first elongate arm with a receptacle at a loader; and cause afirst driver of the at least one driver to move a select distance alongthe length of the first elongate arm.
 8. The doffing system of claim 7,wherein the at least one processor is physically associated with theAGV.
 9. The doffing system of claim 7, wherein the at least oneprocessor is physically associated with the doffing apparatus.
 10. Thedoffing system of claim 7, wherein each alignment device of the at leastone alignment device comprises a laser range detector, wherein the laserrange detector is configured to: emit a laser beam toward a surface ofthe one or more target locations; receive a reflection of the laser beamfrom the surface of the one or more target locations; and determine adistance from the laser range detector to the surface of the one or moretarget locations based on the received reflection of the laser beam. 11.The doffing system of claim 10, wherein the one or more target locationscomprises a body defining a cylindrical recess, wherein each alignmentdevice of the at least one alignment device is configured to provide anoutput indicative of a location of the respective elongate arm withrespect to one or more target locations based on a location of thecylindrical recess relative to the respective elongate arm.
 12. Thedoffing apparatus of claim 7, wherein each alignment device of the atleast one alignment device comprises a camera that is configured tocapture an image having a reference surface therein, wherein theprocessor is further configured to: receive the image, and determine,based on the image, a position of the doffing apparatus relative to thereference surface.
 13. The doffing system of claim 7, wherein eachdriver of the doffing apparatus comprises: a worm drive comprising aworm wheel and a worm, wherein the worm extends longitudinally along acorresponding elongate arm of the at least one elongate arm, and acollar that is slidable along the corresponding elongate arm, whereinthe collar is coupled to the worm so that rotation of the worm causestranslation of the collar.
 14. The doffing system of claim 7, whereinthe doffing apparatus comprising a chassis that is coupled to an uppersurface of the AGV.
 15. The doffing system of claim 14, wherein the atleast one elongate arm comprises first and second elongate armspositioned on opposing sides of the chassis, wherein the at least onedriver comprises first and second drivers, wherein the first driver isconfigured to move along the first elongate arm, and wherein the seconddriver is configured to move along the second elongate arm.
 16. Thedoffing system of claim 14, further comprising at least one motor,wherein each motor of the at least one motor is coupled to a respectiveelongate arm of the at least one elongate arm, wherein each motor of theat least one motor couples to and extends downwardly from the chassis.17. The doffing system of claim 7, wherein the AGV is configured to movealong a first horizontal axis and a second horizontal axis that isperpendicular to the first horizontal axis.
 18. The doffing system ofclaim 7, wherein the AGV comprises a riser that is configured to movethe doffing apparatus along a vertical axis.
 19. The doffing system ofclaim 7, further comprising at least one motor, wherein each motor ofthe at least one motor is coupled to a respective elongate arm of the atleast one elongate arm, wherein each motor of the at least one motorcouples to and extends downwardly from the chassis.
 20. The doffingsystem of claim 13, wherein the doffing device is configured for usewith a bobbin having an outer diameter, wherein the collar has a distalend having a maximum diameter that is less than the outer diameter ofthe bobbin.